calculate distance using disparity map

La Rosa
6 ●2 ●2 ●5

berak
32993 ●7 ●81 ●312

i am wondering how can i calculate the distance between tow webcams(stereo vision) and an object in front of them using the disparity map?

berak
32993 ●7 ●81 ●312

looking at this nice page, we get:

D:= Distance of point in real world,
b:= base offset, (the distance *between* your cameras)
f:= focal length of camera, 
d:= disparity:

D = b*f/d

Comments

it works but i'm getting the result in an matrix?!! is that ok?

La Rosa ( 2014-03-18 10:03:46 -0600 )edit

oh, hehe. yes that's ok.

if you went and divided b*d ( a number ) by your disparity matrix, python will make a matrix as result.

every cell now contains the resp. distance at that point

berak ( 2014-03-18 10:36:28 -0600 )edit

yopiii :) , thank you sooooo much

La Rosa ( 2014-03-18 10:39:34 -0600 )edit

can you give me the code for calculating distance using disparity?

apoorva ( 2014-04-09 08:33:53 -0600 )edit

@apoorva it's right in front of you ?

berak ( 2014-04-09 08:37:05 -0600 )edit

How come pixel size isn't included in the formula?

Or is the pixel size implicitly included if we state disparity in the same measurment unit as focal length?

acajic ( 2015-09-02 03:46:29 -0600 )edit